A flexible sensing mechanical glove based on shape memory fiber woven electrode substrate and a preparation method thereof

Abstract

The application discloses a flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate and a preparation method thereof, which comprises an electrode substrate, a double-sided conductive adhesive layer, a sensing pixel unit and a bionic silica gel layer; the electrode substrate comprises an insulating framework woven by shape memory fibers, longitudinal conductive yarns and transverse conductive yarns are arranged in the insulating framework, the longitudinal conductive yarns constitute row electrodes, and the transverse conductive yarns constitute column electrodes; the double-sided conductive adhesive layer is dot-shapedly coated on an edge region of the sensing pixel unit; one side of the double-sided conductive adhesive layer is attached to the sensing pixel unit, and the other side of the double-sided conductive adhesive layer corresponds to abuts against the row electrodes and the column electrodes, so that electrical conduction is realized. The insulating framework is woven by shape memory fibers, the row electrodes and the column electrodes are integrally woven by the conductive yarns, the conductive circuit is not prone to falling off, and the product consistency and long-term working stability are improved.

Description

Technical Field

[0001] This invention relates to the field of flexible sensing mechanical gloves, and in particular to a flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate and its preparation method. Background Technology

[0002] Humanoid robots have a wide range of applications in industrial flexible assembly, home services, elderly care, and special operations. To enable humanoid robots to perform precise operations, they need to be equipped with sensor gloves to sense the grasping force, the hardness of the object, the surface temperature, and the slippage state of the contact surface.

[0003] Currently, sensor gloves mainly use ordinary cotton yarn as a base. A whole piece of conductive fabric is prepared by repeatedly impregnating and spraying conductive materials. Then, interdigital electrodes are prepared by heat transfer or screen printing. Finally, the whole piece of sensing fabric and interdigital electrodes are composited by ultrasonic hot pressing and whole-piece hot-melt bonding. Pressure sensing is achieved by relying on the whole piece of conductive fabric.

[0004] However, the conductive circuitry of sensors obtained by this method relies solely on ink adhering to the fabric surface, resulting in low bonding strength and easy detachment. Furthermore, ordinary textile substrates lack shape memory properties, leading to electrode distortion and array coordinate shift after repeated bending and stretching, resulting in poor consistency across batches. Additionally, the sensing layer is thermally fused to the electrode surface, creating a large-area colloid that acts as a mechanical barrier, causing lag in external force transmission response. Moreover, interlayer slippage easily occurs between the film and substrate during stress, leading to signal drift and distortion, resulting in poor long-term stability. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate and its preparation method, which can effectively suppress array offset and signal drift caused by repeated deformation.

[0006] Therefore, the technical solution of the present invention is: a flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate, comprising an electrode substrate, a double-sided conductive adhesive layer, a sensing pixel unit, and a biomimetic silicone layer; The electrode substrate includes an insulating skeleton woven from shape memory fibers, with longitudinal conductive yarns and transverse conductive yarns interspersed within the insulating skeleton. The longitudinal conductive yarns form row electrodes, and the transverse conductive yarns form column electrodes. The row electrodes and column electrodes are arranged in a spatially intersecting and non-contact manner in the fabric thickness direction. A double-sided conductive adhesive layer is provided between the sensing pixel unit and the electrode substrate. The double-sided conductive adhesive layer is dotted on the edge area of ​​the sensing pixel unit. One side of the double-sided conductive adhesive layer is attached to the sensing pixel unit, and the other side is correspondingly abutted against the row electrode and the column electrode to realize electrical conduction. The biomimetic silicone layer covers the outer side of the sensing pixel unit, the double-sided conductive adhesive layer, and the electrode substrate.

[0007] Based on the above scheme and as a preferred embodiment of the above scheme: the sensing pixel unit is an independent sheet-like sensitive film, and all sensing pixel units are pressure-sensitive sensing pixel units.

[0008] Based on the above scheme and as a preferred embodiment of the above scheme: the sensing pixel unit is an independent sheet-like sensitive film, which is divided into pressure-sensitive sensing pixel units and temperature-sensitive sensing pixel units arranged at intervals.

[0009] Based on the above scheme and as a preferred embodiment of the above scheme: the electrode substrate is further provided with an independent differential sliding electrode array, the differential sliding electrode including a longitudinal sliding row electrode and a transverse sliding column electrode; the longitudinal sliding row electrode and the transverse sliding column electrode are isolated by shape memory fibers and are entirely covered with a biomimetic silicone layer on the outside.

[0010] Based on the above scheme and as a preferred embodiment of the above scheme: the electrode substrate is a single-layer structure, with longitudinal conductive yarn and transverse conductive yarn interlaced in the insulating skeleton by means of the upper and lower sinking arc of the fabric; the sensing pixel unit is located on one side above the electrode substrate, and only the lower edge of the sensing pixel unit is partially coated with double-sided conductive adhesive, and the single-sided conductive adhesive connects the row electrode and the column electrode at the same time.

[0011] Based on the above scheme and as a preferred embodiment of the above scheme: the electrode substrate has a double-layer structure, one layer is woven from conductive yarn arranged in the warp and shape memory fibers arranged in the weft, and the other layer is woven from conductive yarn arranged in the weft and shape memory fibers arranged in the warp; the sensing pixel unit is located between the double-layer structure of the electrode substrate, and double-sided conductive adhesive is applied to the upper and lower surfaces respectively to conduct electricity to the electrodes on both sides.

[0012] Another technical solution of the present invention is: a method for preparing the above-mentioned flexible sensing mechanical glove, comprising the following steps: S1. Prepare materials according to process requirements: Raw materials include shape memory polymer filaments, conductive yarns, double-sided conductive adhesive, pressure-sensitive conductive paste, temperature-sensitive conductive paste, and biomimetic silicone rubber. S2. Design and fabricate electrode substrate: Arrange orthogonal row and column sensor arrays according to the shape and size of the finger and palm sensing areas of the robot sensing glove. The fabric is woven according to an orthogonal row and column sensor array: the ground comb introduces shape memory polymer filaments to weave an insulating skeleton and pixel insulating separators; the front comb introduces the first set of conductive yarns to weave all the longitudinal row electrodes; the back comb introduces the second set of conductive yarns to weave all the transverse column electrodes; the row electrodes and column electrodes are spatially intersecting and overlapping, and are arranged in layers according to the upper and lower sinking arcs of the fabric, with the two layers of conductive yarns separated by shape memory polymer filaments. S3, Dry heat setting and locking: The woven fabric is placed on the robot model for oven setting. The low sulfur hot air oven is set at a constant temperature of 100-120℃. After setting, the oven is cooled down to below 40℃ at a uniform speed and the fabric is taken out and the electrode array coordinates are locked. S4. Sensor pixel unit preparation: Pressure-sensitive paste / temperature-sensitive paste is printed on baking paper using a squeegee, and then dried in an oven. After drying, sensor pixel unit thin films with a diameter of 20-40 micrometers are etched using a laser. S5, Sensor pixel mounting and conduction: Apply 20-50μm thick double-sided conductive adhesive in multiple directions on the underside of the sensor pixel unit film, and connect the row and column electrodes with the adhesive. S6. Silicone Full-Coverage Encapsulation: Silicone is sprayed all over the surface and cured at room temperature after spraying to form a seamless biomimetic silicone layer.

[0013] Based on the above scheme and as a preferred scheme: In step S2, when weaving the electrode substrate, conductive yarn is used to weave independent differential sliding electrodes. The directions of the longitudinal sliding row electrodes and the transverse sliding column electrodes obtained by weaving are perpendicular to each other in space. They are arranged in layers by relying on the upper and lower sinking arcs of the fabric, and the two layers of conductive lines are separated by shape memory polymer filaments.

[0014] Based on the above scheme and as a preferred embodiment of the above scheme: In step S5, double-sided conductive adhesive is applied to the four edges of the lower surface of the sensing pixel unit; the conductive adhesive segments along the horizontal direction are connected to the horizontal column electrodes of the electrode substrate, and the conductive adhesive segments along the vertical direction are connected to the vertical row electrodes of the electrode substrate, so as to form a path; the thickness of the conductive adhesive is 20 to 50 micrometers, and the adhesive is located in the middle shape memory insulating separator to prevent short circuit between the two electrodes.

[0015] Another technical solution of the present invention is: a method for preparing the above-mentioned flexible sensing mechanical glove, comprising the following steps: S1. Prepare materials according to process requirements: Raw materials include shape memory polymer filaments, conductive yarns, double-sided conductive adhesive, pressure-sensitive conductive paste, temperature-sensitive conductive paste, and biomimetic silicone rubber. S2. Design and fabricate electrode substrate: Arrange orthogonal row and column sensor arrays according to the shape and size of the finger and palm sensing areas of the robot sensing glove. Weaving is performed according to an orthogonal row and column sensor array: two layers of shape memory electrode substrates are woven separately. One layer of fabric uses conductive yarn for the warp and shape memory polymer filaments for the weft. The other layer of fabric uses conductive yarn for the weft and shape memory polymer filaments for the warp. S3, Dry heat setting and locking: The woven fabric is placed on the robot model for oven setting. The low sulfur hot air oven is set at a constant temperature of 100-120℃. After setting, the oven is cooled down to below 40℃ at a uniform speed and the fabric is taken out and the electrode array coordinates are locked. S4. Sensor pixel unit preparation: Pressure-sensitive paste / temperature-sensitive paste is printed on baking paper using a squeegee, and then dried in an oven. After drying, sensor pixel unit thin films with a diameter of 20-40 micrometers are etched using a laser. S5, Sensor pixel mounting and conduction: Double-sided conductive adhesive is applied to the upper and lower surfaces of the sensor pixel unit and then connected to the warp and weft conductive yarns in the two layers of shape memory electrode substrate. S6. Silicone Full-Coverage Encapsulation: Silicone is sprayed all over the surface and cured at room temperature after spraying to form a seamless biomimetic silicone layer.

[0016] This invention employs an electrode substrate woven from shape memory fibers. Longitudinal conductive yarns form row electrodes, and transverse conductive yarns form column electrodes. These two types of electrodes spatially intersect and are mutually insulated along the fabric thickness, forming a matrix addressing circuit. The sensing pixel unit achieves electrical connection with the row and column electrodes via dot-shaped double-sided conductive adhesive. When the glove grips an object and applies pressure, the conductive network inside the sensing pixel unit changes, and the resistance changes accordingly. The control system scans the row and column electrode matrix to acquire the resistance signals of each pixel, obtaining information about the pressure distribution on the contact surface.

[0017] Additionally, temperature-sensitive pixel units can be added. Pressure-sensitive pixels respond to pressure changes, while temperature-sensitive pixels respond to temperature changes, allowing for the simultaneous acquisition of pressure and temperature signals, thus achieving decoupled detection of temperature and pressure signals.

[0018] Meanwhile, a differential sliding electrode array can be woven into the substrate. When the workpiece and the glove contact surface slide relative to each other, the outer biomimetic silicone undergoes shear deformation, causing the longitudinal sliding row electrode and the transverse sliding column electrode to undergo differential stretching. The resistance change characteristics of the two sets of sliding electrodes are different. The controller can determine the sliding direction, sliding rate and workpiece slipping trend based on the resistance difference.

[0019] Compared with the prior art, the beneficial effects of the present invention are: 1. The integrated weaving pattern process combines shape memory polymer fibers and conductive yarns into one integrated weaving. The shape memory fibers form an insulating skeleton, and the row and column electrodes are directly formed by the integrated weaving of conductive yarns, making the conductive lines less prone to falling off. The fabric is heat-set and locked in shape, which can maintain the electrode array coordinates for a long time. It is not easy to have array distortion after repeated bending and stretching, effectively suppressing signal drift and improving product consistency and long-term working stability.

[0020] 2. The connection between the sensor pixel and the electrode substrate is achieved by using dot-shaped local double-sided conductive adhesive. External force can be efficiently transmitted to the sensor pixel unit, and the pressure response is more timely. At the same time, it avoids interlayer slippage distortion caused by large-area bonding, resulting in better detection repeatability. The adhesive is limited to the edge area of ​​the pixel, which can prevent short circuits of row and column electrodes.

[0021] 3. Pressure detection can be achieved by simply arranging pressure-sensitive pixels; temperature and pressure can be detected simultaneously by combining them with temperature-sensitive pixels; a differential sliding electrode array can also be added to identify the sliding state, which can be adapted to the robot grasping operation needs of different scenarios.

[0022] 4. The entire outer side is covered with a full-coverage bionic silicone layer, with a seamless fit. It can efficiently transfer external loads and isolate sweat, dust and moisture. It has excellent bending resistance, wear resistance and flexible bionic properties, and is suitable for the complex curved surface of robot fingers and high-frequency reciprocating operation conditions. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of Example 1; Figure 2 This is a longitudinal structural sectional view of Example 1; Figure 3 This is a cross-sectional view of the structure of Example 1; Figure 4 This is a longitudinal structural cross-sectional view of Example 2.

[0024] The components in the diagram are labeled as follows: electrode substrate 1, first layer 11, second layer 12, double-sided conductive adhesive layer 2, sensing pixel unit 3, biomimetic silicone layer 4, row electrode 5, and column electrode 6. Detailed Implementation

[0025] Example 1 The flexible sensing mechanical glove based on shape memory fiber woven electrode substrate described in this embodiment employs an integrated weaving process to blend shape memory polymer fibers with conductive yarn, directly forming an orthogonal array of electrodes during the weaving process. This invention uses shape memory fiber as the main substrate material, and after heat setting, the fabric outline and electrode arrangement can be locked, effectively suppressing array shift and signal drift caused by repeated deformation.

[0026] The flexible sensing mechanical glove includes an electrode substrate 1, a double-sided conductive adhesive layer 2, a sensing pixel unit 3, and a biomimetic silicone layer 4.

[0027] The electrode substrate 1 contains orthogonal row and column electrodes, which are woven into an integral structure by a braiding machine; shape memory fibers in the substrate electrode 1 act as ground combs to form an insulating skeleton; the warp row electrodes 5 are woven in the front comb and the weft column electrodes 6 are woven in the back comb, and the row and column electrodes cross each other in a non-contact space to form a matrix structure. The row electrodes 5 and column electrodes 6 are arranged in a non-contact manner in the fabric thickness direction; after weaving, they are placed in a high-temperature environment for memory setting.

[0028] Depending on the application requirements, the electrode substrate 1 is further provided with an independent differential sliding electrode array, which includes longitudinal sliding row electrodes and transverse sliding column electrodes; the longitudinal sliding row electrodes and transverse sliding column electrodes are isolated by shape memory fibers. When the contact surface slides in different directions, the silicone undergoes shear deformation, causing the two sliding electrodes to be subjected to differential tension, resulting in different resistance changes, thereby determining the sliding direction, sliding rate, and slippage tendency.

[0029] The sensing pixel unit 3 is an independent sheet-like sensitive film. All sensing pixel units 3 are pressure-sensitive sensing pixel units, or pressure-sensitive sensing pixel units and temperature-sensitive sensing pixel units arranged at intervals. The sensing pixel units are integrally printed using an industrial printing machine. When the surface pressure / temperature changes, the conductive path changes, and the resistance changes synchronously to achieve pressure / temperature signal output.

[0030] A double-sided conductive adhesive layer 2 is provided between the sensing pixel unit 3 and the electrode substrate 1. The double-sided conductive adhesive layer 2 is dotted on the edge area of ​​the sensing pixel unit 3 and is not connected to each other. One side of the double-sided conductive adhesive layer 2 is attached to the sensing pixel unit 3, and the other side is correspondingly abutted against the row electrode 5 and the column electrode 6 to achieve electrical conduction.

[0031] The biomimetic silicone layer 4 is composed of wear-resistant, highly elastic biomimetic silicone, which completely covers all the underlying fabric substrate, sensor pixels, double-sided conductive adhesive, etc., covering all areas of the glove's fingers and palm. After being vacuum-encapsulated and cured, it is tightly connected to the sensor pixels and fabric substrate, with a seamless structure between them. External gripping pressure can be directly transmitted vertically through the silicone layer to the sensor pixels below. It can also isolate sweat, dust, and moisture, and resist repeated bending and wear of the joints.

[0032] The method for preparing the above-mentioned flexible sensing mechanical glove includes the following steps: S1. Prepare materials according to process requirements, including various yarns and auxiliary materials required for weaving and assembly. Raw materials include shape memory polymer filaments (commercially available products), silver / nickel-plated conductive yarn, double-sided conductive adhesive (isotropic double-sided conductive acrylic conductive adhesive or conductive silver adhesive, etc.), pressure-sensitive materials, temperature-sensitive materials, and biomimetic silicone rubber.

[0033] Among them, the shape memory polymer filaments are selected from shape memory filaments (including but not limited to polyester, spandex, etc.) with a heat setting range of 100℃~120℃. After dry heat setting at the corresponding temperature, the coordinates of the fabric electrode array can be locked. After setting, repeated bending and stretching will not cause row and column pad offset or array distortion. Moreover, the setting temperature of 100~120℃ is lower than the short-term tolerance limit of 140℃ for conductive yarn. The setting process will not cause the silver plating to peel off or the contact resistance to drift.

[0034] The pressure-sensitive material can be commercially available pressure-conductive paste (conductive materials such as carbon nanotubes and carbon black are mixed with polymers as needed); the temperature-sensitive material is commercially available temperature-sensitive conductive paste; the biomimetic silicone rubber is LSR medical platinum silicone.

[0035] S2. Complete the design and weaving of the flexible substrate integrated braided electrode: Plan an orthogonal row and column array according to the size of the sensing area of ​​the fingers and palm of the robot glove. Set two independent and completely separated exposed conductive docking areas at each sensing point of the array. The glove base employs a woven partitioned weaving method: the entire base is woven with a shape memory filament skeleton; conductive yarns are used in the longitudinal and transverse directions; during weaving, the ground comb continuously introduces shape memory filaments in the 100~120℃ setting range to weave the insulating separation strip between the insulating skeleton of the entire fabric and the points; the front comb introduces the first set of conductive yarns to weave all the longitudinal conductors; the back comb introduces the second set of conductive yarns to weave all the transverse column conductors; all transverse and column conductors intersect and overlap in space, arranged in layers based on the upper and lower sinking arcs of the fabric, with the two layers of conductive yarn separated by shape memory fibers, and there is no physical contact during the weaving process, thus avoiding short circuits due to crossover at the source.

[0036] S3. Composite substrate dry heat setting and locking treatment: The woven fabric is placed on a robotic arm model for oven setting. A low-sulfur hot air oven is used to prevent the coating of conductive yarn from peeling and the resistance of contact points from drifting due to high temperature and humidity. At the same time, the shape memory fiber molecular chain rearrangement is completed and the relative coordinates of the conductive areas at all points are locked. After the setting is completed, the oven is naturally and uniformly cooled to below 40°C before the fabric is taken out. After cooling, a shape memory fabric electrode substrate with fixed size and double isolation of exposed conductive areas without displacement is obtained.

[0037] S4. Preparation of sensor pixels: Commercial pressure-sensitive paste / temperature-sensitive paste is printed on baking paper using a squeegee. The paper is then dried in an oven at 300°C for 4 hours. After drying, sensor pixel unit thin films with a diameter of 20~40 micrometers (thickness of about 100~300 micrometers) are etched using a laser.

[0038] S5. Apply double-sided conductive adhesive to the four edges of the lower surface of the sensing pixel unit; connect the transverse conductive adhesive segments to the transverse column electrodes of the electrode substrate, and connect the longitudinal conductive adhesive segments to the longitudinal row electrodes of the electrode substrate to form a path; the thickness of the conductive adhesive is 20-50 micrometers, and the adhesive must not overflow the middle shape memory insulating separator to prevent short circuit between the two electrodes.

[0039] S6. Use a two-component addition silicone rubber that can be cured at room temperature. The mixing ratio of the A and B components is 1:1. After mixing, use a low-pressure spray gun to spray a protective film with a thickness of less than 0.5 mm onto the back of the fabric and the front of the sensor pixel multiple times. Cure at room temperature, for example, the interval between each layer is 40 min to 60 min. After spraying to the specified thickness, cure at room temperature for 60 min.

[0040] When weaving the electrode substrate, a completely independent differential sliding electrode circuit can be added according to the usage requirements of the robotic arm for anti-slip detection. The entire sliding electrode system includes longitudinal sliding row electrodes and transverse sliding column electrodes, with the two types of electrode lines running perpendicular to each other in space. The longitudinal sliding row electrodes and transverse sliding column electrodes are arranged in layers by relying on the warp-knitted sinker arc of the fabric. The gap between the two layers of sliding conductive circuits is filled by shape memory polymer filament weaving, achieving physical isolation without contact. The sliding electrode as a whole is independent of the longitudinal row electrodes and transverse column electrodes originally used on the fabric, and they are also separated by an insulating isolation zone formed by shape memory polymer filaments, so they are not electrically connected. All long lines of the sliding electrode use silver-plated conductive yarn with an insulating layer. The deformation of the outer silicone layer causes the yarn to generate a change in resistance. The entire sliding circuit is heat-set along with the substrate to ensure that the relative position of the sliding electrode and the temperature and pressure sensing point is fixed for a long time.

[0041] Example 2 The difference between Embodiment 1 and Embodiment 2 is that the electrode substrate 1 has a double-layer structure. The first layer 11 is woven from warp-arranged conductive yarns and weft-arranged shape memory fibers, and the second layer 12 is woven from weft-arranged conductive yarns and warp-arranged shape memory fibers. The sensing pixel unit 3 is located between the double-layer structure of the electrode substrate 1, with double-sided conductive adhesive layers 2 applied to its upper and lower surfaces to connect with the electrodes on both sides. After the double-sided conductive adhesive is applied to the upper and lower surfaces of the sensing pixel unit, it is connected to the warp and weft conductive yarns in the shape memory substrate electrode to form a sandwich structure, and then a silicone layer is sprayed onto the whole structure. This structure completely avoids the risk of short circuit due to contact with the wires during weaving, and allows for greater freedom in wiring design.

[0042] When weaving the electrode substrate: A double-layer shape memory electrode substrate is woven separately. One layer uses conductive yarn for the warp and shape memory polymer filaments for the weft. The other layer uses conductive yarn for the weft and shape memory polymer filaments for the warp. Simultaneously, sensor pixel mounting and conduction are achieved: double-sided conductive adhesive is applied to the top and bottom surfaces of the sensor pixel unit, connecting it to the warp and weft conductive yarns in the two shape memory electrode substrates to form a sandwich structure. Finally, a silicone layer is sprayed onto the entire substrate. This structure completely avoids the risk of short circuits due to wire contact during weaving, allowing for greater freedom in wiring design.

[0043] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate, characterized in that: It includes an electrode substrate, a double-sided conductive adhesive layer, a sensing pixel unit, and a biomimetic silicone layer; The electrode substrate includes an insulating skeleton woven from shape memory fibers, with longitudinal conductive yarns and transverse conductive yarns interspersed within the insulating skeleton. The longitudinal conductive yarns form row electrodes, and the transverse conductive yarns form column electrodes. The row electrodes and column electrodes are arranged in a spatially intersecting and non-contact manner in the fabric thickness direction. A double-sided conductive adhesive layer is provided between the sensing pixel unit and the electrode substrate. The double-sided conductive adhesive layer is dotted on the edge area of ​​the sensing pixel unit. One side of the double-sided conductive adhesive layer is attached to the sensing pixel unit, and the other side is correspondingly abutted against the row electrode and the column electrode to realize electrical conduction. The biomimetic silicone layer covers the outer side of the sensing pixel unit, the double-sided conductive adhesive layer, and the electrode substrate.

2. The flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate as described in claim 1, characterized in that: The sensing pixel unit is an independent sheet-like sensitive film, and all sensing pixel units are pressure-sensitive sensing pixel units.

3. The flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate as described in claim 1, characterized in that: The sensing pixel unit is an independent sheet-like sensitive film, which is divided into pressure-sensitive sensing pixel units and temperature-sensitive sensing pixel units arranged at intervals.

4. The flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate as described in claim 3, characterized in that: The electrode substrate is also provided with an independent differential sliding electrode array, which includes a longitudinal sliding row electrode and a transverse sliding column electrode; the longitudinal sliding row electrode and the transverse sliding column electrode are isolated by shape memory fibers and are entirely covered with a biomimetic silicone layer on the outside.

5. A flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate as described in any one of claims 1 to 4, characterized in that: The electrode substrate has a single-layer structure, with longitudinal and transverse conductive yarns interwoven in the insulating skeleton by means of the upper and lower sinking arcs of the fabric; the sensing pixel unit is located on one side above the electrode substrate, and only the lower edge of the sensing pixel unit is partially coated with double-sided conductive adhesive, and the single-sided conductive adhesive connects the row electrode and the column electrode at the same time.

6. A flexible sensing mechanical glove based on a shape memory fiber woven electrode substrate as described in any one of claims 1 to 4, characterized in that: The electrode substrate has a double-layer structure. One layer is woven from conductive yarn arranged in the warp and shape memory fibers arranged in the weft, and the other layer is woven from conductive yarn arranged in the weft and shape memory fibers arranged in the warp. The sensing pixel unit is located between the double-layer structure of the electrode substrate, and double-sided conductive adhesive is applied to the upper and lower surfaces to make it conductive to the electrodes on both sides.

7. A method for preparing the flexible sensing mechanical glove according to claim 5, characterized in that: Includes the following steps: S1. Prepare materials according to process requirements: Raw materials include shape memory polymer filaments, conductive yarns, double-sided conductive adhesive, pressure-sensitive conductive paste, temperature-sensitive conductive paste, and biomimetic silicone rubber. S2. Design and fabricate electrode substrate: Arrange orthogonal row and column sensor arrays according to the shape and size of the finger and palm sensing areas of the robot sensing glove. The fabric is woven according to an orthogonal row and column sensor array: the ground comb introduces shape memory polymer filaments to weave an insulating skeleton and pixel insulating separators; the front comb introduces the first set of conductive yarns to weave all the longitudinal row electrodes; the back comb introduces the second set of conductive yarns to weave all the transverse column electrodes; the row electrodes and column electrodes are spatially intersecting and overlapping, and are arranged in layers according to the upper and lower sinking arcs of the fabric, with the two layers of conductive yarns separated by shape memory polymer filaments. S3, Dry heat setting and locking: The woven fabric is placed on the robot model for oven setting. The low sulfur hot air oven is set at a constant temperature of 100-120℃. After setting, the oven is cooled down to below 40℃ at a uniform speed and the fabric is taken out and the electrode array coordinates are locked. S4. Sensor pixel unit preparation: Pressure-sensitive paste / temperature-sensitive paste is printed on baking paper using a squeegee, and then dried in an oven. After drying, sensor pixel unit thin films with a diameter of 20-40 micrometers are etched using a laser. S5, Sensor pixel mounting and conduction: Apply 20-50μm thick double-sided conductive adhesive in multiple directions on the underside of the sensor pixel unit film, and connect the row and column electrodes with the adhesive. S6. Silicone Full-Coverage Encapsulation: Silicone is sprayed all over the surface and cured at room temperature after spraying to form a seamless biomimetic silicone layer.

8. The preparation method according to claim 7, characterized in that: In step S2, when weaving the electrode substrate, conductive yarn is used to weave independent differential sliding electrodes. The longitudinal sliding row electrodes and transverse sliding column electrodes obtained by weaving are perpendicular to each other in space. They are arranged in layers based on the upper and lower sinking arcs of the fabric, and the two layers of conductive lines are separated by shape memory polymer filaments.

9. The preparation method according to claim 7, characterized in that: In step S5, double-sided conductive adhesive is applied to the four edges of the lower surface of the sensing pixel unit; the conductive adhesive segments along the horizontal direction are connected to the horizontal column electrodes of the electrode substrate, and the conductive adhesive segments along the vertical direction are connected to the vertical row electrodes of the electrode substrate to form a circuit; the thickness of the conductive adhesive is 20-50 micrometers, and the adhesive is located in the middle shape memory insulating separator to prevent short circuit between the two electrodes.

10. A method for preparing the flexible sensing mechanical glove according to claim 6, characterized in that: Includes the following steps: S1. Prepare materials according to process requirements: Raw materials include shape memory polymer filaments, conductive yarns, double-sided conductive adhesive, pressure-sensitive conductive paste, temperature-sensitive conductive paste, and biomimetic silicone rubber. S2. Design and fabricate electrode substrate: Arrange orthogonal row and column sensor arrays according to the shape and size of the finger and palm sensing areas of the robot sensing glove. Weaving is performed according to an orthogonal row and column sensor array: two layers of shape memory electrode substrates are woven separately. One layer of fabric uses conductive yarn for the warp and shape memory polymer filaments for the weft. The other layer of fabric uses conductive yarn for the weft and shape memory polymer filaments for the warp. S3, Dry heat setting and locking: The woven fabric is placed on the robot model for oven setting. The low sulfur hot air oven is set at a constant temperature of 100-120℃. After setting, the oven is cooled down to below 40℃ at a uniform speed and the fabric is taken out and the electrode array coordinates are locked. S4. Sensor pixel unit preparation: Pressure-sensitive paste / temperature-sensitive paste is printed on baking paper using a squeegee, and then dried in an oven. After drying, sensor pixel unit thin films with a diameter of 20-40 micrometers are etched using a laser. S5, Sensor pixel mounting and conduction: Double-sided conductive adhesive is applied to the upper and lower surfaces of the sensor pixel unit and then connected to the warp and weft conductive yarns in the two layers of shape memory electrode substrate. S6. Silicone Full-Coverage Encapsulation: Silicone is sprayed all over the surface and cured at room temperature after spraying to form a seamless biomimetic silicone layer.

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